Yamaha RCX222, User Manual

Page: 328 / 524

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Chapter
4
OPERA
TION
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12. "SYSTEM" mode
12.3.2 Setting the "SERVICE" mode
These settings specify the "SERVICE" mode level and parameters for RPB controlled
operations which are performed within the robot system's safety enclosure area.
Parameter settings made here are only valid until the controller power is turned off, unless
those settings are saved.
"SERVICE" mode is enabled or disabled by input through the SAFETY interface.
n
NOTE
The "SERVICE" mode functions can only be utilized when the necessary
settings were made by YAMAHA prior to shipping.
w
WARNING
ALTHOUGH THE SERvICE MODE DEFAULT SETTINGS CAN BE CHANGED, SUCH
CHANGES SHOULD BE MADE ONLY IN CASES WHERE THE USER HAS
DETERMINED THAT DOING SO WILL POSE NO HAzARD, WITH ADEQUATE CARE
TAKEN TO ENSURE SAFETY.
c
CAUTION
The dedicated input is SI when the serial board is connected.
There are three parameters for "SERVICE" mode.
1. "SERVICE" mode level
Select the mode level by referring to the table below.
Description
Hold to Run function AUTO mode operation
Level 0 Disabled Allowed
Level 1 Enabled Allowed
Level 2 Disabled Prohibited
* Level 3 Enabled Prohibited
* The Hold to Run function indicates that the robot operation (including
program execution) is executed only when the keys are held down on
the RPB.